RU2713698C1 - Self-propelled automated robot machine for removing hard-to-remove contaminants - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to the category of professional household equipment intended for cleaning of areas from unnecessary objects or materials. Automated self-contained cleaning machine comprises engine, cleaning agent with mechanical destructive effect, collector of treated contaminants and storage container for liquid nitrogen, connected with unit for its application and distribution on surface. Liquid nitrogen storage container is made in the form of a Dewar flask, and connected to it unit for its application and distribution on surface is made in form of cryodestructor, supplying liquid nitrogen to a certain and limited area of surface with contamination by means of controlled subsystem, consisting of an expandable hose, on the end of which a positionable working element with a side wall is installed, which prevents leakage of liquid nitrogen. Cleaning agent having a mechanical destructive effect on the contamination detected and frozen as per incoming signal is made in the form of a needle baffle driven by means of a compressor. Collected contaminants collector is made in form of complex controlled system consisting of suction device with trapping chamber, at the input of which a rotating brush is installed, and at the outlet there is a container for temporary storage of incoming crumbled contaminants with the catching chamber. Machine is equipped with photodetectors, which identify contamination by means of surface heterogeneity, information on parameters of which enter information-analytical system of machine computer controlling operation, made with possibility of generation and sending, taking into account in advance the data on technical parameters of the machine, optimal control signals, activating, deactivating and controlling production processes related to detection of pollution and its elimination from the surface.

EFFECT: invention provides higher efficiency and quality of operation.

9 cl, 8 dwg

Description

Technical field

The present invention relates to the category of professional household equipment designed to clean certain areas of the territory from unnecessary objects or materials, in particular, from the remnants of used chewing gum, residues of bitumen, glue, traces of insects, as well as other hard to remove pollution.

State of the art

Hard to remove impurities are constantly and inevitably forming all over the world, mainly in public places, the most common of them are adherent residues of used chewing gum and bitumen stains.

The solution to this problem in an urban environment is especially relevant, since the untidy appearance of central squares and streets negatively affects the image of cities.

Currently known methods and devices using which it is possible to cleanse from this type of pollution, however, their inherent disadvantages, which will be mentioned below, have created the prerequisites for the creation of a new, more advanced technology to combat these pollution.

Thus, a self-propelled cleaning vehicle for cleaning sandy beaches from oil pollution is known from the prior art (see US4157016, class E01H 1/00, publ. 1979 [1]).

The essence of the known solution [1] is that the sweeper moves along the sandy beach and sprays liquid nitrogen on oil-contaminated surfaces, thereby making mixed masses of oil and sand solid, which makes it easy to separate them from clean sand and effectively remove them from the beach to special places for disposal or recycling.

The harvesting machine is a large-capacity all-terrain vehicle equipped with special equipment for processing and collecting materials, as well as a trailer into which the specified material enters.

It should be noted that the area of rational use of this harvesting machine is quite narrow, limited by cleaning exclusively loose surfaces, since the working body of the machine in the form of a special blade and its tracked drive will inevitably damage other types of contaminated coatings.

It should also be noted that this machine has impressive overall dimensions and a large weight, which is associated with low speed and maneuverability and high fuel consumption, thereby reducing technical and operational performance.

A portable portable complex for cleaning surfaces using liquid nitrogen is known from the prior art (see US6233949, class A01M 21/00, publ. 2001 [2]).

The known complex contains a cylinder with liquid nitrogen, adapted for carrying behind a back and connected with it by a flexible connection, a manual tripod at one end, which is equipped with a user lever for controlling the injection of nitrogen, and at the other a nozzle-limiter in the form of an inverted bowl, preventing gas leakage.

This device has a fairly simple and compact design, while not without drawbacks.

The design of the tripod is not suitable for prolonged use by the operator, since separately it is not suspended on the shoulder or belt of the user, and the hand holders are located at the end of the tripod so that it is difficult to move, including tilting to the work surface without changing the position of the hand on one of the holders.

You should also pay attention to the fact that this device is not intended for a full cycle of surface cleaning from difficult to remove contaminants, since it does not constructively provide for the function (possibility) of destruction and subsequent removal of gas-contaminated contaminants, which will require additional necessary steps for this with the involvement of suitable improvised tools.

Thus, from the shortcomings of the known solution [2], it is possible to note difficulties in processing large-surface surfaces, which arise, inter alia, due to low ergonomic indicators when using, as well as low manufacturability of the cleaning process.

The prior art is a semi-automatic device designed to remove used chewing gum from various surfaces (see CN206607540, class E01H 15/00, publ. 2017 [3]).

This device comprises a trolley on which a liquid nitrogen tank is placed, equipped with a flexible connection at the end of which a manual nitrogen dispenser is fixed with a limiter in the form of a round grip, there is also a hand brush connected by a flexible electrical connection to the said trolley.

Since all the equipment used on the wheeled trolley is easier and easier to clean surfaces, and since the spray device and brush are made for comfortable use with one hand, high ergonomics are achieved during operation.

At the same time, the equipment of the device allows you to implement a full cleaning cycle, starting with exposure to liquid nitrogen to pollution and ending with its removal. However, it is important to note that removal consists only in grinding the treated contaminated sites, i.e. in fact, dirt still remains and needs to be completely eliminated, which will require additional actions. Thus, it is obvious that high efficiency during operation of the device is achieved mainly when machining vertical surfaces, since the dirt during brushing simply settles on horizontal surfaces.

Also of the shortcomings can be noted a low level of manufacturability of the device, since the movement of the cart, as well as all cleaning operations are carried out in manual mode.

The closest analogue of the invention is a pavement cleaning device known from GB1480482, class. E01C 23/08, publ. 1977 [4]).

The known device [4] is intended to remove unnecessary objects or materials from the surface of road surfaces, for example, bitumen residues, rubber and polymer products, etc.

This cleaning device is self-propelled in the form of a vehicle on which an engine, a cleaning agent that has a mechanical destructive effect, a waste collector and a liquid nitrogen storage tank connected to its application and distribution unit are mounted on a surface.

This device is the most effective and technological of all of the above, since it is able to implement a full cleaning cycle, including cleaning, which is exposed to gas pollution and is self-propelled, allowing you to consistently act on contaminants in the direction of travel, completely eliminating them.

Of the shortcomings, it can be noted that this machine is not able to act selectively, i.e. in fact, the entire surface through which the machine passes is subjected to treatment, which is associated, in particular, with an inefficient flow of liquid nitrogen, while the possibility of an efficient supply of nitrogen, as well as the adjustment and control of auxiliary cleaning systems in manual mode, is doubtful, since it is impossible to “accurately” by eye to estimate the required amount of gas supplied, the required switching moment and brush speed, the optimal speed of movement, etc.

Thus, an additional disadvantage of the device [4] can be considered a narrow area of useful (efficient) use of the machine, limited to cleaning surfaces not with local stubborn dirt, but with solid ones that require immediate removal.

Disclosure of Invention

The technical problem (task) of the present invention is the creation of a high-tech self-propelled cleaning machine that removes stubborn stubborn dirt from any surface in an automatic mode that provides for a complete cleaning cycle, starting from the detection of these impurities and ending with their complete elimination from the surface, making them possible temporary storage for processing for reuse in industry.

The technical result of the invention, which is objectively manifested during its operation, is to increase productivity and quality of work.

The desired technical result and the indicated technical problem (task) are ensured as a result of the fact that the automated self-propelled cleaning machine contains an engine, a cleaning agent having a mechanical destructive effect, a collector of treated contaminants and a liquid nitrogen storage tank connected to its application and distribution unit on the surface the container for storing liquid nitrogen is made in the form of a Dewar vessel, and the unit for its application and distribution over the surface connected to it is made in in the form of a cryodestructor supplying liquid nitrogen to a certain and limited surface area with contamination by means of a subsystem controlled by it, consisting of a sliding sleeve at the end of which a positioned working element with a side wall preventing leakage of liquid nitrogen is installed, a cleaning agent that renders a mechanical destructive signal upon an incoming signal the effect on previously detected and frozen pollution is made in the form of a needle chipper driven by a compressor, a collector The treated contaminants are made in the form of an integrated controlled system consisting of a suction device with a capture chamber, at the entrance of which a rotating brush is installed, and at the outlet a container is connected to the capture chamber for temporary storage of the received ground pollution, while the machine is equipped with photodetectors identifying pollution by means of heterogeneity surface, information about the parameters that enter the information-analytical system (IAS) that controls the operation of the machine pewter configured to generate and send, with the advance embodied therein data about the technical parameters of the machine, the optimal control signals, activating, deactivating and controlling production processes, for the detection of contamination and eliminate it from the surface.

According to one of the preferred manufacturing options, the automated machine is equipped with a controlled system of irrigation and disinfection of the treated surface area, on which there was previously contamination.

The specified system of irrigation disinfection exposure consists, as a rule, of a dispenser and spray nozzles connected to the capacity of the disinfectant solution through its supply unit.

It is most appropriate if the proposed automated machine is equipped with an additional set of photodetectors, which serve for the control analysis of a surface area previously freed from contamination, in order to send appropriate signals to the IAS, determining whether or not it is necessary to re-treat a certain surface area.

According to one of the best versions of the proposed automated machine, it contains a set of ultrasonic sensors for their positioning relative to differences in surface heights, moving and stationary obstacles, as well as living objects.

Information about the parameters of pollution entering the computer information-analytical system, as a rule, contains information about the amount of pollution, viscosity of pollution, pollution hardness, temperature of pollution, area and location of pollution.

Data on the technical parameters of the proposed automated machine, which are preliminarily entered into the information-analytical system of the control computer, as a rule, include information on the overall dimensions and dimensions of the equipment of the automated machine and the distance between it, the weight of the machine, the type and power of the engine of the machine, the transmission of the machine, maximum machine speed, acceleration and deceleration times of the machine.

According to one particular embodiment of an automated machine, it is equipped with a monitor connected to a computer with an input device using which it is possible to control the operation of the machine in manual mode.

It is preferable if the battery level, the amount of liquid nitrogen, the time of cleaning, the state of wear of the working elements and the filling level of the container for temporary storage of ground contaminants are displayed on the monitor of the automated machine.

According to the inventive concept, the proposed automated self-propelled cleaning system is a complex of complex interconnected working units, sensors, modules and hardware located on one housing, transmitting readings, functioning and controlled by computer software, which includes IAS , which stores in non-volatile memory, the technical parameters of a certain automated machine previously embedded in it, and has the ability to receive and analysis of external information signals entering into it containing data on the parameters of detected contaminants in order to generate optimal control signals (control commands) for sending them to the control units of subordinate systems and subsystems performing cryodestruction, grinding, cleaning and complete removal of detected contaminants from the surface.

As a rule, all parts of the machine are mounted on the housing or inside the housing, which has the ability to move with the help of a propulsion wheel or track type.

The engine of the proposed machine is used to convert energy into mechanical work to implement the movement of the machine.

The hardware and software in the proposed machine are a computer system with non-volatile memory and an information-analytical center (system), software that controls the movement of the machine and the processes associated with the detection and removal of stubborn contaminants.

A set of photodetectors serves to identify contaminants, determine their parameters, and ultrasonic sensors serve to position the machine relative to differences in the heights of the coating being cleaned, various obstacles, and also living objects.

The system for influencing liquid nitrogen pollution according to the design is a container for storing liquid nitrogen, which is connected to the site of its application and distribution on the surface. Moreover, the said container is made in the form of a Dewar vessel, and the assembly connected to it in the form of a cryodestructor, designed to supply liquid nitrogen to a limited area of the treated surface with the aim of low-temperature impact on the ingrained hard to remove pollution for its subsequent destruction. The cryodestructor includes a controlled subsystem, which consists of a sliding sleeve, at the end of which a positioned working element is installed that is in contact with the surface, a structure that prevents leakage of liquid nitrogen, thereby focusing on one place with high efficiency.

Further, according to the inventive concept, a cleaning agent comes into action on command, which has a mechanical destructive effect on the frozen area of contamination. The cleaning agent is made in the form of a needle chipper driven by a pneumatic or hydraulic compressor.

Next, a collector of previously treated contaminants is activated, which is made in the form of an integrated controlled system consisting of a suction device with a catching chamber, at the entrance of which a rotating brush is installed, and at the outlet a container is connected to the catching chamber for temporary storage of incoming frozen fragmented contaminants.

Further, based on the features of the software or depending on the configuration of the machine, the area freed from contamination is treated with a disinfectant solution using a controlled irrigation disinfection system, after which, based on the features of the software or depending on the configuration of the machine, the quality of cleaning is monitored and sending, if necessary, a specific signal for reprocessing the zag laughter.

As already mentioned above, the correct operation of the proposed automated machine is controlled by a computer system, and more specifically IAS, software that allows you to control all the functionality and capabilities of production processes, in particular, activation and deactivation of processes, sequence of their inclusion, time of their operation, etc.

A computer’s IAS, receiving a signal with information about pollution from photodetectors, determines their number, exact location relative to the machine, area, viscosity, hardness, as well as other parameters and features, and, taking into account the information about the technical features of a particular machine that is pre-installed in it, it generates and sends the necessary control commands to the control blocks of the machine working units.

So, for example, the engine control unit can receive signals about the required speed of the machine, the direction of its movement, stop time for the necessary processes, stopping place, etc.

The cryodestructor systems control unit receives signals about the required amount of liquid nitrogen, its exposure time, positioning of the working element in the place of contamination, etc.

The control unit of the cleaning agent in the form of a needle chipper receives signals about the force of the needles, the time of the needles, signals about the selective inclusion of needles corresponding to the area and localization of contamination.

Signals about the speed and time of rotation of the brush, suction power, etc. can be sent to the control unit of the dirt collector.

The control unit of the irrigation disinfection system may receive signals about the amount of the supplied solution and the intensity of its impact.

In the performance of a machine with ultrasonic position sensors, data on approaching obstacles or elevations during movement are received in an information-analytical system (IAS) for generating control commands to the engine control unit.

Thus, the proposed structural design of the proposed automated self-propelled cleaning machine, taking into account its technical features, forms a set of signs sufficient to achieve a technical result, which consists in increasing productivity and quality of work and for solving the urgent technical problem of creating a high-tech machine that removes stubborn dirt in an automatic a regime involving the completion of a full cleaning cycle from detection to complete elimination, while providing for the possibility of reuse of collected ground contaminants.

Brief Description of the Drawings

In FIG. 1 presents an example of contamination of the roadway with ingested residues of used chewing gum;

In FIG. 2 shows a layout diagram of the proposed machine;

In FIG. 3 presents a block diagram of the work of the information-analytical system (IAS);

In FIG. 4 shows a variant of positional installation of a cryodestructor working element on a contaminated area of the treated surface;

In FIG. 5 shows a variant of the operation of a needle chipper;

In FIG. 6 is a graphical example of the selective operation of a needle chipper;

In FIG. 7 presents a variant of the work of the collector of treated contaminants;

In FIG. 8 schematically shows the proposed machine with a conditional division into working areas;

The implementation of the invention

The invention is illustrated by a specific example of implementation and implementation, which, however, are not the only possible, but clearly demonstrate the achievement of the specified set of essential features of a technical result, as well as a solution to the existing technical problem.

In FIG. 1 - FIG. 7 designates the following elements of the invention, as well as objects used in its implementation:

1 - the processed surface;

2 - dried residues of used chewing gums;

3 - ultrasonic obstacle sensors;

4 - photodetectors;

5 - additional photodetectors;

6 - car wheels;

7 - rotating brush;

8 - work item;

9 - cryodestructor;

10 - Dewar vessel with liquid nitrogen;

11 - needle chipper;

12 - a suction device;

13 - catching chamber;

14 - container for temporary storage of contaminants;

15 - irrigation disinfection system;

16 - capacity for a disinfectant solution;

17 - engine;

18 - computer;

19 - the first compressor;

20 - second compressor;

21 - information input device with a monitor;

22 - a sliding sleeve;

23 - machine body;

24 - positioning device;

25 - IAS (information-analytical system) of the computer;

26 - the signal from the photo detector 4 in the IAS 25;

27 is a signal from IAS 25 to the cryodestructor control unit 9;

28 is a signal from IAS 25 to the control unit of the needle bump 11;

29 - a signal from IAS 25 to the control unit of the collector of processed contaminants;

30 - a signal from IAS 25 to the control unit of the irrigation disinfection system 15;

31 - the signal from the ultrasonic sensors 3 in the IAS 25;

32 - a signal from IAS 25 to the engine control unit 17;

33 - signal from IAS 25 to the monitor of the device 21;

34 - signal from the additional photodetector 5 in the IAS 25;

35 - needles;

36 - needle plunger;

37 - boundaries of the zone of mechanical impact;

38 - direction of movement of the machine;

39 - the needles involved in this case;

40 - the width of the zone of action of the involved needles 39.

In FIG. 8 conventionally presented, the following notation:

X is pollution;

And - the area of action of photodetectors 4;

B - cryodestruction zone;

C is the zone of operation of the needle chipper 11;

E - the area of work of the collector of treated contaminants;

D is the area of operation of the rotating brush 7;

G - disinfection treatment area;

F - coverage area of additional photo detectors 5.

It should be noted that the purpose of the following description of the invention is not to limit it to a specific implementation, but rather to cover all kinds of additions that do not go beyond the scope of the presented claims.

In accordance with the proposed inventive concept, the proposed automated self-propelled cleaning machine comprises a housing 23, an engine 17, a cleaning agent having a mechanical destructive effect, a collector of treated contaminants, and a container for storing liquid nitrogen, which is connected to its application and distribution unit on the surface.

The liquid nitrogen storage tank is made in the form of a Dewar vessel 10 with liquid nitrogen, and the unit for its application and distribution over the surface connected to it is made in the form of a cryodestructor 9.

The cryodestructor 9 delivers liquid nitrogen to a specific and limited surface area with contamination by means of a subsystem controlled by it, consisting of an extension sleeve 22 at the end of which a positionable working element 8 is installed with a side wall that prevents leakage of liquid nitrogen.

The positioned working element 8, as a rule, is made in the form of a cup-shaped nozzle, tightly pressed to the surface and preventing leakage of liquid nitrogen.

Also, the working element 8 can be made in the form of a cap or pipe, also tightly pressed to the surface.

A cleaning agent, which, upon an incoming signal to the corresponding control unit, has a mechanical destructive effect on previously detected and frozen contamination is made in the form of a needle chipper 11, driven by a first pneumatic or hydraulic compressor 19.

The collected contaminants collector is made in the form of an integrated controlled system consisting of a suction device 12 with a capture chamber 13.

A rotating brush 7 is installed at the inlet of the suction device 12, and a container 14 for temporarily storing the received ground contaminants is connected to the catching chamber 13 at the outlet.

The proposed machine is equipped with photodetectors 4, identifying contamination through surface inhomogeneity, information about the parameters that are received in IAS 25, which controls the operation of the computer machine 18.

IAS 25 with the help of software processes the received signals and, taking into account the data about the technical parameters of the machine in advance, it generates optimal control signals (control commands) that can activate, deactivate and control production processes related to the detection of contaminants and their elimination from the surface.

Also, the machine is equipped with a controlled irrigation disinfection system 15 for treating surface areas that previously had contamination. The specified system of irrigation disinfection 15 consists of a dispenser and spray nozzles connected to a capacity of 16 disinfectant solution.

The machine is equipped with an additional set of photo detectors 5, which serve for the control analysis of a surface area previously freed from contamination in order to supply certain signals to IAS 25, which determines whether or not it is necessary to re-treat a certain surface area.

The proposed machine contains a set of ultrasonic obstacle sensors 3 for safe movement, excluding damage to the machine, obstacles and living objects.

The proposed machine is also equipped, connected to the computer 18, an input device with a monitor 21, with which you can optionally control the operation of the machine in manual mode.

The proposed automated cleaning machine operates as follows.

The treatment cycle for hard to remove entrained contaminants from the surface consists of several stages, which correspond to conditionally sequentially located processing zones A-F (Fig. 8).

Moving arbitrarily forward along the surface to be treated, the machine with its front part “runs into” pollution X (Fig. 8), falling into the area of action of zone A (Fig. 8), where it is photoregistered using photodetectors 4 (Fig. 2).

The signal 26 (Fig. 3) about the presence of contamination X on the treated surface 1 through the communication system enters the IAS 25, which perceives it as a trigger mechanism to the beginning of the entire cycle of processing contamination X.

The pollution treatment cycle X starts.

At the beginning, in IAS 25, where the information comes from photo detectors 4, an analysis of the contamination is carried out in order to determine its area, degree of contamination, viscosity, hardness and the exact location relative to the machine.

Based on the data on the pollution parameters X, the IAS 25, taking into account the data on the characteristics of the machine pre-stored in it, generates optimal control signals, see FIG. 3 for the implementation of production processes distributed among conditional processing zones (Zones A-F, Fig. 8).

All control signals (Fig. 3) generated by IAS 25 are additionally processed in it and compared with each other to check for "conflicting" commands in order to eliminate failures in the operation of the machine.

Initially, IAS 25 sends a signal 32 (Fig. 3) to the engine control unit 17, which contains information about the choice of the trajectory, speed, time and the possible number of stops for carrying out all the processing steps that correspond to conditional zones A-F (Fig. 8).

Then, the IAC 25 sends a signal 27 to the cryodestructor control unit 9 (Fig. 3) and the processing step corresponding to zone B (Fig. 4, Fig. 8) begins.

At this stage, the working element 8 is positioned for pollution X (in this example, the dried residue of used chewing gum 2 acts as pollution X), resulting in cryodestruction of pollution X in this zone B.

The machine slowly moves forward and at a certain time in a certain place by means of a positioning device 24 for contamination, in the form of a dried residue, used chewing gum 2, the working element 8 is lowered and liquid nitrogen is supplied (Fig. 4). In the process of cryodestruction, the working element 8 is constantly in a stationary state relative to contamination, while the machine continues to move, this is necessary for high-quality freezing of the dried residue used chewing gum 2 throughout the volume. In accordance with the signal 27, a certain metered amount of liquid nitrogen is supplied directly to the working element 8 through the extension sleeve 22.

The design of the working element 8 is made so that a snug fit to the surface, and the side wall prevents leakage of nitrogen.

In the design of the machine, there can be several positioned working elements 8, which makes it possible to overlap the entire area of zone B (Fig. 8), which increases the processing efficiency.

As a rule, it takes a few seconds to produce high-quality cryodestruction - the time is sufficient for the working element 8 to move from the beginning of zone B to its end (Fig. 4) using the positioning device 24.

After completion of the cryodestruction stage (zone B), the working element 8 is automatically lifted and transferred to its original position (front of zone B) also using the positioning device 24.

The machine continues to move, and at this time, contamination in the form of a dried residue of used chewing gum 2, subjected to cryodestruction, falls into zone C (Fig. 8), namely, into the machining zone of the needle chipper 11.

The signal 28 (Fig. 3) from the IAS 25 turns on the supply of compressed air through the first vacuum compressor 19 to the needle chipper 11 in accordance with the area and localization of contamination located in zone C (Fig. 5). The needles 35 of the needle chipper 11 produce a mechanical effect on the frozen pollution as it is in zone C.

Needles 39 can be activated selectively and this depends on the size of the contamination (see Fig. 6)

The task of the needle chipper 11 is grinding and separation of the frozen contamination from the surface to be cleaned.

Further, as the machine advances, the processed pollution enters in the form of crushed frozen particles in the processing zone D (Fig. 7, Fig. 8), where, according to the signal 29 received from the IAC 25 to the control unit of the processed dirt collector, a rotating brush 7 is turned on. which, having an additional mechanical effect on the frozen and destroyed by the cryodestructor 9, as well as the contamination treated with a needle chipper, collects the crushed particles, directing them to the capture chamber 13 of the suction device 12, as if shaking them (Fig. 7).

Also, vacuum treatment by the suction device 12 (zone E, Fig. 8) is subjected to all freely lying frozen pollution particles, as well as those that are additionally supplied by a rotating brush 7.

All frozen contaminants passing through the capture chamber 13 of the suction device 12 are subsequently sent to a container 14 for temporary storage of contaminants (Fig. 2).

Further, the surface area freed from contamination as it moves along the machine enters zone G (Fig. 8), i.e. at the stage of additional processing with a disinfectant solution, where it is disinfected, received by means of a signal 30 (Fig. 3) from IAS 25 (Fig. 3) to the control unit of the irrigation disinfection system 15, which activates the solution through spray nozzles, washing off the residues of treated fragmented contaminants from the surface .

Then, the surface area freed from contamination as the machine moves enters zone F (Fig. 8), i.e. at the stage of operation of additional photodetectors, responsible for sending information to IAS 25 on the quality control of surface cleaning of the road surface. Through the communication system, the signal 34 enters the IAS 25, where it is processed, and in the case of insufficient quality processing, a signal is sent that the entire processing cycle should be repeated in accordance with zones A-F (Fig. 8).

During operation of IAS 25, basic information regarding cleaning processes is displayed on the machine’s monitor and, if necessary, the machine operator using the information input device 21 can stop the machine at any time or manage the necessary manual steps.

The use of the proposed automated self-propelled cleaning machine increases productivity and quality of work.

The present invention can be successfully used to remove stubborn hard to remove contaminants, for example, residues of used chewing gum adhering to the surface of the road surfaces, with the possibility of their temporary storage for processing for reuse in industry.

Claims (9)

1. Automated self-propelled cleaning machine containing an engine, a cleaning agent that has a mechanical destructive effect, a collector of treated contaminants and a container for storing liquid nitrogen, connected to the site of its application and distribution on the surface, characterized in that the tank for storing liquid nitrogen is made in the form Dewar vessel, and the unit of its application and distribution on the surface connected to it is made in the form of a cryodestructor supplying liquid nitrogen to a specific and limited portion of the surface pollution with the help of a subsystem controlled by it, consisting of a sliding sleeve, at the end of which a positioned working element with a side wall preventing leakage of liquid nitrogen is installed, a cleaning agent that exerts a mechanical destructive effect on the detected and frozen pollution on an incoming signal, made in the form needle chipper driven by a compressor, the collector of the processed contaminants is made in the form of an integrated controlled system consisting of all a collecting device with a catching chamber, at the entrance of which a rotating brush is installed, and at the output, a container communicating with the catching chamber for temporary storage of incoming crushed contaminants, while the machine is equipped with photo detectors that identify pollution by means of surface inhomogeneity, the parameters of which are received in the information-analytical a system for controlling the operation of a computer machine, made with the possibility of generation and dispatch, taking into account e data on the technical parameters of the machine, optimal control signals that activate, deactivate and control production processes related to the detection of pollution and its elimination from the surface. 2. The automated machine according to claim 1, characterized in that it is equipped with a controlled system of irrigation disinfection of the treated surface area, which was previously contaminated. 3. The automated machine according to claim 2, characterized in that the said system consists of a dispenser and spray nozzles connected to the capacity of the disinfectant solution through its supply unit. 4. The automated machine according to claim 1, characterized in that it is equipped with an additional set of photodetectors, which serve for the control analysis of a surface area previously freed from contamination, in order to supply the appropriate signals to an information-analytical system that determines whether or not there is a need to re-treat a certain surface area . 5. The automated machine according to claim 1, characterized in that it contains a set of ultrasonic sensors for positioning the machine relative to changes in surface heights, moving and stationary obstacles, as well as living objects. 6. The automated machine according to claim 1, characterized in that the information on the pollution parameters contains information about their quantity, viscosity, hardness, temperature, area and exact location relative to the machine. 7. The automated machine according to claim 1, characterized in that the data on the technical parameters of the machine include information about its overall dimensions and dimensions of the equipment and the distance between it, weight, type and power of the engine, transmission, maximum speed, acceleration and braking times. 8. The automated machine according to claim 1, characterized in that it is equipped with a monitor connected to the computer with an information input device, with which it is possible to control the operation of the machine in manual mode. 9. The automated machine according to claim 1, characterized in that the monitor displays the battery charge level, the amount of liquid nitrogen, the time of cleaning, the state of wear of the working elements and the filling level of the container for temporary storage of ground contaminants.

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